Component-recognizing apparatus, surface-mounting apparatus, and component-inspecting apparatus

ABSTRACT

In an apparatus adapted to scan a lower side of an electronic component being suction-held by a suction-holding nozzle, to perform image recognition of suction-held conditions of the electronic component, this invention is intended to perform a transfer operation under a condition that the suction-holding nozzle is arranged closer to an upper surface of a base, wherein the optical path directed downwardly from the suction-holding nozzle is bended in a lateral direction by a first optical path changing member and then further bended in another direction by a second optical path changing member to allow image-sensing means to capture an image of a lower surface of the suction-holding nozzle, and the electronic component being suction-held by the suction-holding nozzle is illuminated along the lateral optical path changed by the first optical path changing member.

TECHNICAL FIELD

The present invention relates to a component-recognizing apparatus forimage recognition of a state of an electronic component beingsuction-held by a suction-holding nozzle, to a surface-mountingapparatus, and to a component-inspecting apparatus having thecomponent-recognizing apparatus.

BACKGROUND ART

Generally, a surface-mounting apparatus or a component-inspectingapparatus for electronic components comprises a head unit which ismovable apart from a base by a given distance, and a suction-holdingnozzle installed in the head unit, wherein the surface-mountingapparatus or the component-inspecting apparatus is adapted to transferan electronic component to a target position while suction-holding theelectronic component by the suction-holding nozzle. The head unit isprovided with a component-recognizing apparatus for performing imagerecognition of suction-held conditions being suction-held by thesuction-holding nozzle.

For example, the following Patent Document 1 discloses an art designedfor a component-recognizing apparatus in a surface-mounting apparatus toallow lower-surface image-sensing means to capture an image of a lowersurface of an electronic component being suction-held by asuction-holding nozzle, wherein the component-recognizing apparatuscomprises: a first optical path changing member operable to change adirection of light directed downwardly from a suction-holding nozzle toa direction directed laterally from beneath the suction-holding nozzle;a second optical path changing member operable to change further thelight direction directed laterally; and illumination means providedbeneath the first optical path changing member.

This component-recognizing apparatus is a mechanism advantageous inreducing a mounting time, because of its ability to perform componentrecognition in concurrence with an X-Y movement from a component pickupposition to a mounting position.

Patent Document 1: JP 8-32299A

DISCLOSURE OF THE INVENTION

The component-recognizing apparatus disclosed in the Patent Document 1is a mechanism advantageous in reducing a mounting time, because of itsability to perform component recognition in concurrence with an X-Ymovement from a component pickup position to a mounting position.Nonetheless, it is necessary to reduce a vertical height dimension of ascanning unit of the component-recognizing apparatus as much aspossible, in order to allow a transfer operation to be performed under acondition the suction-holding nozzle is arranged closer to an uppersurface of a base.

For example, with a view to solving this problem, if it is attempted toreduce a size of an optical system and a lens to reduce a thickness of aportion of the optical system and the illumination means located beneaththe suction-holding nozzle, there arises a problem of performancedegradation, such as narrowing in field of view of the lower-surfaceimage-sensing means, and reduction in lens brightness.

It is therefore an object of the present invention to reduce a thicknessof a place for a scanning camera beneath a suction-holding nozzle so asto lower a height of a head unit and downsize intended equipment in itsentirety, without performance degradation, such as narrowing in field ofview of lower-surface image-sensing means and reduction in lensbrightness due to downsizing of an optical system and a lens.

In order to achieve this object, the present invention provides acomponent-recognizing apparatus comprising a movable head unit having asuction-holding nozzle capable of suction-holding an electroniccomponent and a scanning unit which is installed to the head unit inrelatively displaceable with respect to the suction-holding nozzle, thescanning unit being operable to capture an image for image recognitionof suction-held conditions of the electronic component beingsuction-held by the suction-holding nozzle, said scanning unitincluding: a first optical path changing member which is adapted to belocated beneath the suction-holding nozzle and is operable to bend theoptical path directed downwardly from the suction-holding nozzle in alateral direction during the image-sensing operation; a second opticalpath changing member operable to further bend the bended optical path inanother direction; lower-surface image-sensing means disposed in theoptical path changed by the second optical path changing member, thelower-surface image-sensing means is operable to capture an image of alower surface of the electronic component being suction-held by thesuction-holding nozzle through the first and second optical pathchanging members; and illumination means operable to emit illuminationlight onto the lower surface of the electronic component beingsuction-held by the suction-holding nozzle, along at least a lateraloptical path changed by the first optical path changing member.

According to the component-recognizing apparatus of the presentinvention, the illumination means is operable to emit illumination lightonto the lower surface of the electronic component being suction-held bythe suction-holding nozzle, along at least the lateral optical pathchanged by the first optical path changing member. This makes itpossible to eliminate a need for providing the illumination meansbeneath the suction-holding nozzle. Therefore, a thickness of thescanning unit can be reduced without performance degradation, such asnarrowing in field of view of the lower-surface image-sensing means andreduction in lens brightness due to downsizing of an optical system anda lens. In addition, an opposed distance between the head unit and abase can be reduced to downsize intended equipment in its entirety andfacilitate a reduction in installation space of the equipment.

In accordance with another aspect of the present invention, there isprovided a component-recognizing apparatus comprising a movable headunit having a suction-holding nozzle capable of suction-holding anelectronic component and a scanning unit which is installed to the headunit in relatively displaceable with respect to the suction-holdingnozzle, the scanning unit being operable to capture an image for imagerecognition of suction-held conditions of the electronic component beingsuction-held by the suction-holding nozzle, said scanning unitincluding: a first optical path changing member which is adapted to belocated beneath the suction-holding nozzle and is operable to bend theoptical path directed downwardly from the suction-holding nozzle in alateral direction during the image-sensing operation; a second opticalpath changing member operable to further bend the bended optical path inanother direction so that the bended optical path directs upwardly at agiven elevation angle relative to a horizontal plane; and image-sensingmeans disposed in the optical path changed by the second optical pathchanging member, the image-sensing means is operable to capture an imageof a lower surface of the electronic component being suction-held by thesuction-holding nozzle through the first and second optical pathchanging members.

In this aspect, the image-sensing means is disposed in the optical pathwhich is changed by the second optical path changing member in such amanner as to be directed upwardly at a given elevation angle relative toa horizontal plane. This makes it possible to avoid a situation wherethe image-sensing means is provided to extend below the second opticalpath changing member.

In accordance with yet another aspect of the present invention, there isprovided a component-recognizing apparatus comprising a row ofsuction-holding nozzles each capable of suction-holding an electroniccomponent and a scanning unit which is installed to the head unit, thescanning unit is adapted to be relatively displaced with respect to thesuction-holding nozzles to perform sequential scanning so as to capturean image for image recognition of suction-held conditions of theelectronic component being suction-held by each of the suction-holdingnozzles, the scanning unit including: a lower-surface image takingsection operable to take an image of a lower surface of the electroniccomponent being suction-held by the suction-holding nozzle when thelower-surface image taking section passes beneath each of thesuction-holding nozzles during the scanning operation of the scanningunit; and lower-surface image-sensing means operable to capture an imageof the lower surface of the electronic component introduced through thelower-surface image taking section, wherein the scanning unit has ashape configured, in terms of a large-size electronic component having asize exceeding an image-capturing region determined by the lower-surfaceimage taking section and the lower-surface image-sensing means, to bespaced apart from each of the suction-holding nozzles by a givendistance, to avoid interference with the large-size electronic componentbeing suction-held by at least one of the suction-holding nozzles,during the scanning operation of the scanning unit.

In this aspect, even in case where the large-size electronic componentrequiring image recognition using a fixed camera is attached to at leastone of the suction-holding nozzles, the scanning operation for theelectronic components attached to the remaining suction-holding nozzlescan be performed under a condition that the scanning unit is arrangedadjacent to a lower surface of each of the remaining suction-holdingnozzles as close as possible, while avoiding interference with thelarge-size electronic component. Thus, the large-size electroniccomponent can be mixedly transferred together with the electroniccomponents to be subjected to the image-sensing operation using thescanning unit. This makes it possible to allow the component-recognizingapparatus to achieve high flexibility in terms of sequence duringtransfer of the electronic components, and excellent transferefficiency.

The present invention also provides a surface-mounting apparatusequipped with the component-recognizing apparatus in accordance with anyone of the above aspects.

The present invention further provides a component-inspecting apparatusequipped with the component-recognizing apparatus in accordance with anyone of the above aspects.

These and other objects, features and advantages of the presentinvention will become more apparent upon reading the following detaileddescription along with the accompanying drawings.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a top plan view showing a schematic structure of asurface-mounting apparatus according to one embodiment of the presentinvention.

FIG. 2 is a side view showing the schematic structure of thesurface-mounting apparatus.

FIG. 3 is a side view showing a structure of a component-recognizingapparatus according to one embodiment of the present invention.

FIG. 4 is a front view showing the structure of thecomponent-recognizing apparatus.

FIG. 5 is a top plan view showing the structure of thecomponent-recognizing apparatus.

FIG. 6 is a fragmentary side view enlargedly showing a substantial partof the component-recognizing apparatus.

FIG. 7 is a block diagram showing a schematic configuration of a controlunit of the component-recognizing apparatus.

FIG. 8 is a side view showing a structure of a component-recognizingapparatus according to another embodiment of the present invention.

FIG. 9 is a front view showing the structure of thecomponent-recognizing apparatus according to the embodiment in FIG. 8.

FIG. 10 is a top plan view showing the structure of thecomponent-recognizing apparatus according to the embodiment in FIG. 8.

FIG. 11A is an explanatory diagram showing a relationship between anarrangement of an image sensor of a line sensor and an image of anelectronic component obtained on the image sensor via a lens, in casewhere the image sensor is arranged to be inclined with respect to ahorizontal direction in such a manner that an arrangement direction ofthe image sensor is set approximately perpendicular to a movementdirection of the image of the electronic component according to theembodiment in FIG. 8.

FIG. 11B is an explanatory diagram showing that a taken image is formedas a non-distorted image in case of FIG. 11A.

FIG. 12A is an explanatory diagram for case where the image sensor ofline sensor in the embodiment in FIG. 8 are arranged in a horizontaldirection.

FIG. 12B is an explanatory diagram showing that a taken image is formedas a distorted image in the case where the image sensor of the linesensor in the embodiment in FIG. 8 are arranged in a horizontaldirection.

FIG. 13 is a front view showing a structure of a component-recognizingapparatus according to yet another embodiment of the present invention.

FIG. 14 is a side view showing a structure of a component-recognizingapparatus according to still another embodiment of the presentinvention.

BEST MODE FOR CARRYING OUT THE INVENTION

With reference to the drawings, the best mode for carrying out thepresent invention will now be specifically described.

As shown in FIGS. 1 and 2, a surface-mounting apparatus 1 according toone embodiment of the present invention is equipment for mounting asmall-size electronic component 2 (FIG. 3) and a large-size electroniccomponent 2 a (FIG. 3) onto a board 3, wherein the surface-mountingapparatus 1 comprises board-conveying means 4 disposed on a base 1 a toconvey the board 3, a component feed section 5 operable to feed aplurality of the electronic components 2 and a plurality of thelarge-size electronic components 2 a, and a head unit 7 adapted to bemovable between the component feed section 5 and the board 3, whilesupporting a suction-holding nozzle 6 a (FIG. 2) capable of picking upand holding one of the electronic components 2 and the large-sizeelectronic components 2 a from the component feed section 5, by suction.

The surface-mounting apparatus 1 is further equipped with acomponent-recognizing apparatus 8 according to the present invention, asa means to perform image recognition of suction-held conditions of theelectronic component 2 being suction-held by the suction-holding nozzle6 a of the head unit 7, and a fixed camera 1 b disposed on the base 1 a,as a means to perform image recognition of suction-held conditions ofthe large-size electronic component 2 a being suction-held by thesuction-holding nozzle 6 a.

Specifically, the board-conveying means 4 has a pair of conveyers 4 aand 4 a operable to convey the board 3 along an upper surface of thebase 1 a in a direction from a right side to a left side in FIG. 1,wherein the board 3 carried by the conveyers 4 a and 4 a is temporarilystopped at a given mounting position (position of the board 3illustrated in FIG. 1) where the electronic component 2 and thelarge-size electronic component 2 a are mounted onto the board 3.

The component feed section 5 is provided with a large number of tapefeeders 5 a operable to feed the plurality of electronic components 2,and a tray feeder 5 b operable to feed the plurality of large-sizeelectronic components 2 a, on both sides of the board-conveying means 4.

Each of the tape feeders 5 a has a reel wound by a tape which containsand holds the small-piece or chip-shaped electronic components 2, suchas ICs, transistors or capacitors, at given intervals, wherein the tapefeeder 5 a is adapted to allow the electronic components 2 to beintermittently fed out from the reel and picked up by thesuction-holding nozzle 6 a of the head unit 7.

The tray feeder 5 b internally houses a rectangular-shaped tray 5 c onwhich the large-size electronic components, such as QFPs, are placed,wherein tray feeder 5 b is adapted to slidably eject the tray 5 c so asto allow one of the large-size electronic components to be picked up bythe suction-holding nozzle 6 a of the head unit 7. Although notillustrated in detail, the tray 5 c has an upper surface provided with aplurality of component receiving portions in a matrix arrangement, andthe large-size electronic components 2 a are received in respective onesof the component receiving portions.

An image for image recognition of suction-held conditions of thelarge-size electronic component 2 a being suction-held by thesuction-holding nozzle 6 a is taken by the fixed camera 1 b disposed onthe base 1 a, from below the large-size electronic component 2 a.

The head unit 7 is designed to transport the electronic component 2picked up from the tape feeders 5 a or the large-size electroniccomponent 2 a picked up from the tray feeder 5 b to the board 3, whilesuction-holding it by the suction-holding nozzle 6 a. In thisembodiment, the head unit 7 includes six mounting heads 6 each providedwith the suction-holding nozzle 6 a and arranged in a row at evenintervals along an X-axis direction (a conveyance direction of theboard-conveying means 4).

Each of the suction-holding nozzles 6 a is adapted to be selectivelyconnected to a vacuum generator (not shown) to create a vacuum state ata tip thereof so as to detachably suction-hold the electronic component2 by the resulting vacuum suction force.

Each of the suction-holding nozzles 6 a is also adapted to be movable upand down (movable in a Z-axis direction) relative to the head unit 7according to nozzle up-down movement driving means (not shown), androtatable about a central axis thereof (rotatable about an R axis)according to nozzle-rotation driving means (not shown).

The nozzle up-down movement driving means is designed to move thesuction-holding nozzle 6 a up and down between a lowermost position fora pickup operation and a mounting operation, and an uppermost positionfor a transfer operation and an image-sensing operation. Thenozzle-rotation driving means is designed to rotate the suction-holdingnozzle 6 a according to need to adjust a conditions of the electroniccomponent 2. Each of the nozzle up-down movement driving means and thenozzle-rotation driving means is in the form of a servomotor and a givendriving-force transmitting mechanism.

Further, the head unit 7 is operable to transfer two or more electroniccomponents 2 and at least one large-size electronic component 2 a beingsuction-held by the respective suction-holding nozzles 6 a between thecomponent feed section 5 and the board 3, and mount the electroniccomponents 2 and the large-size electronic component 2 a onto the board3 one-by-one. For this purpose, the head unit 7 is adapted to be movableover a given region of the base 1 a, in the X-axis direction and aY-axis direction (direction perpendicular to the X-axis direction).

More specifically, the head unit 7 is supported relative to amounting-head support member 7 a extending in the X-axis direction, insuch a manner as to be movable along the X-axis. The mounting-headsupport member 7 a has opposite ends each supported by a fixed rail 9extending in the Y-axis direction, so that it is movable in the X-axisdirection along the fixed rails 9. Further, the head unit 7 is adaptedto be drivenly moved in the X-axis direction by an X-axis servomotor 11,and the mounting-head support member 7 a is adapted to be drivenly movedin the Y-axis direction by a Y-axis servomotor 13 through a ball screw14.

As shown in FIGS. 3 to 5, the component-recognizing apparatus 8comprises, as a main element, a scanning unit 8 a which is installed tothe head unit 7 to capture an image for image recognition ofsuction-held conditions of each of the electronic components 2 beingsuction-held by the suction-holding nozzles 6 a, in a sequential manner,during a course of transferring the electronic components 2 from thecomponent feed section 5 to a target position by the head unit 7. Thescanning unit 8 a is formed with a lower-surface image taking section 8b, and internally provided with a first optical path changing member 8c, a second optical path changing member 8 d, lower-surface illuminationmeans 8 e, and lower-surface image-sensing means 8 f operable to capturean image of a lower surface of each of the electronic components 2 whichstrikes through the lower-surface image taking section 8 b. The firstoptical path changing member 8 c and the second optical path changingmember 8 d are supported by a support member 8 m of the scanning unit 8a.

The component-recognizing apparatus 8 further comprises side-areaimage-sensing means 9 g and side illumination means 8 h which areintegrated with the scanning unit 8 a.

The scanning unit 8 a is a module installed to the head unit 7 andadapted to be movable approximately parallel to a row direction of thesuction-holding nozzles 6 a by a servomotor (not shown) through a ballscrew 8 j. For scanning an image of the electronic component 2 fallingwithin an image-capturing region (i.e., a field of view) determined bythe lower-surface image taking section 8 b and the lower-surfaceimage-sensing means 8 f in a given region equal to or greater than aregion to be opposed to the large-size electronic component, thescanning unit 8 a has a recess that maintains a given distance from eachof the suction-holding nozzles 6 a to avoid interference with thelarge-size electronic component 2 a.

As above, in this embodiment, the scanning unit 8 a has a particularshape configured, in terms of the large-size electronic component 2 ahaving a size exceeding the image-capturing region determined by thelower-surface image taking section 8 b and the lower-surfaceimage-sensing means 8 f, to be spaced apart from each of thesuction-holding nozzles 6 a by a given distance, to avoid interferencewith the large-size electronic component 2 a being suction-held by thesuction-holding nozzle 6 a, during the movement of the scanning unit 8a.

The lower-surface image taking section 8 b is a portion of the scanningunit 8 a, which is operable, when it passes beneath each of thesuction-holding nozzles 6 a during the movement of the scanning unit 8a, to capture an image of a lower surface of the electronic component 2being suction-held by the suction-holding nozzle 6 a. In thisembodiment, the lower-surface image taking section 8 b is embodied by anoblong or rectangular-shaped slit formed in the scanning unit 8 a. Theslit as the lower-surface image taking section 8 b is located betweenthe first optical path changing member 8 c and the suction-holdingnozzle 6 a, to prevent disturbance light from entering the lower-surfaceimage-sensing means 8 f (see FIG. 6).

The first optical path changing member 8 c is adapted to be locatedbeneath each of the suction-holding nozzles 6 a, wherein the firstoptical path changing member 8 c is operable to change the optical pathdirected downwardly from the suction-holding nozzle 6 a, approximatelyhorizontally/laterally by about 90 degrees, so as to change the opticalpath in a lateral direction from beneath the suction-holding nozzle 6 a.In this embodiment, the first optical path changing member 8 c is in theform of a reflecting prism.

The second optical path changing member 8 d is an optical deviceoperable to change further the optical path from the first optical pathchanging member 8 c by about 90 degrees, so as to further bend theoptical path bended by the first optical path changing member 8 c, inanother direction. In this embodiment, the second optical path changingmember 8 d is in the form of a half mirror. Thus, the optical pathchanging surface 8 k functions as a translucent surface with respect tolight from behind an optical path changing surface 8 k, to allow thelight of the illumination means 8 e provided behind an optical pathchanging surface 8 k, to pass therethrough forwardly.

Further, as shown in FIG. 4, the support member 8 m supporting the firstoptical path changing member 8 c and the second optical path changingmember 8 d is formed and arranged such that an upper surface 8 p thereofis located below an upper surface 8 q of the first optical path changingmember 8 c and an upper surface 8 s of the second optical path changingmember 8 d.

The lower-surface illumination means 8 e is a device operable to emitillumination light toward the electronic component 2 being suction-heldby the suction-held nozzle 6 a, through the first optical path changingmember 8 c and the second optical path changing member 8 d, so as toilluminate the lower surface of the electronic component 2, and embodiedby a plurality of light-emitting diodes. In this embodiment, thelower-surface illumination means 8 e is provided approximately on anextension line of the light directed from the first optical pathchanging member 8 c toward the second optical path changing member 8 d,so as to emit the illumination light from behind an optical pathchanging surface 8 k of the second optical path changing member 8 d,toward the first optical path changing member 8 c. As above, thelower-surface illumination means 8 e is adapted to illuminate the lowersurface of the electronic component 2 being suction-held by thesuction-holding nozzle 6 a, with the illumination light bended by thefirst optical path changing member 8 c after passing through the opticalpath changing surface 8 k of the second optical path changing member 8d.

The lower-surface image-sensing means 8 f is a camera adapted to capturean image of the electronic component 2 being suction-held by thesuction-holding nozzle 6 a and illuminated by the lower-surfaceillumination means 8 e, through the first optical path changing member 8c and the second optical path changing member 8 d. For example, thelower-surface image-sensing means 8 f may be in the form of a CCD linesensor camera. The lower-surface image-sensing means 8 f is disposedsuch that an image-taking direction thereof is oriented laterally toface the optical path changed by the second optical path changing member8 d.

The side-area image-sensing means 8 g is a camera disposed lateral tothe lower-surface image-sensing means 8 f and adapted to capture animage of the electronic component 2 from a lateral side of theelectronic component 2. For example, the side-area image-sensing means 8g may be in the form of a CCD line sensor camera, as with thelower-surface image-sensing means 8 f.

A lower end 8 r of a side-image taking section 8 n for the side-areaimage-sensing means 8 g is located below the upper surface 8 q of thefirst optical path changing member 8 c and the upper surface 8 s of thesecond optical path changing member 8 d.

The side illumination means 8 h is a device operable to illuminate aside surface of the electronic component 2, wherein a plurality oflight-emitting diodes is employed. The plurality of light-emittingdiodes are disposed on the side of a distal end of the scanning unit 8 aformed in a concave shape to avoid interference with the large-sizeelectronic component 2 a.

During a course of transferring the electronic component 2 from thecomponent feed section 5 to the board 5 after picking up the electroniccomponent 2 in the component feed section 5 by the suction-holdingnozzle 6 a, the lower-surface image-sensing means 8 f and the side-areaimage-sensing means 8 g take images of the electronic component 2 beingsuction-held by the suction-holding nozzle 6 a, and the taken images (areflection image of the lower surface of the electronic component 2, anda transmitted image of the lateral surface of the electronic component2) are subjected to an image processing using an image processing device23 of a control unit 20 (FIG. 7).

An image of suction-held conditions of the large-size electroniccomponent 2 a being suction-held by the suction-holding nozzle 6 a istaken by the fixed camera 1 b disposed on the base 1 a. For example, thefixed camera 1 b is in the form of a CCD camera adapted to perform imagerecognition of the large-size electronic component 2 a from below thesuction-holding nozzle 6 a, during a course of transferring thelarge-size electronic component 2 a from the tray feeder 5 b to theboard 3 after picking up the large-size electronic component 2 a by thesuction-holding nozzle 6 a.

With reference to FIG. 7, the control unit 20 of the surface-mountingapparatus 1 will be described below.

As shown in FIG. 7, in terms of a functional configuration, the controlunit 20 comprises a main control section 21, an axis control section 22,an illumination control section 23, a camera control section 24, and animage processing section 25.

The main control section 21 is designed to generally control anoperation of the surface-mounting apparatus 1, and comprises acommonly-known CPU for executing logical operations, a ROM pre-storingvarious programs for controlling the CPU, and a RAM for temporarilystoring various data during an operation of the surface-mountingapparatus 1. The main control section 21 is operable to control variousdevices, such as the board-conveying means 4, the component feed section5, the mounting heads 6, the head unit 7 and the component-recognizingapparatus, according to the pre-stored programs.

The axis control section 22 is operable to control driving of variousservomotors 31, such as the X-axis servomotor 11, the Y-axis servomotor13, and the servomotor for the scanning unit 8 a, while communicatingcontrol signals with the main control section 21. Each of theservomotors 31 is provided with an encoder 32 which is operable todetect a movement position of the associated unit or member, and feedback the detected position to the axis control section 22 as a controlsignal.

The illumination control section 23 is operable to control thelower-surface illumination means 8 e for the lower-surface image-sensingmeans 8 f in conjunction with the operation of taking an image of theelectronic component 2 by the lower-surface image-sensing means 8 f,while communicating control signals with the main control section 21.

The camera control section 24 is operable to control the lower-surfaceimage-sensing means 8 f of the component-recognizing apparatus 8, whilecommunicating control signals with the main control section 21.

The image processing section 25 is operable to subject an image signaloutput from the lower-surface image-sensing means 8 f, to a givenprocessing to create image data suitable for component recognition, andoutput the image data to the main control section 21. Then, the maincontrol section 21 is operable to perform an arithmetical operation,such as calculation of deviation in suction-held conditions (pickuperror) based on the image data output from the image processing section25.

With reference to FIGS. 1 to 7, functions of the surface-mountingapparatus 1 according to this embodiment will be described below.

In the surface-mounting apparatus 1 according to this embodiment, thecontrol unit 20 generally controls an operation of each section of thesurface-mounting apparatus.

First, as shown in FIG. 1, the pair of conveyers 4 a and 4 a of theboard-conveying means 4 carry the board 3 to the given mounting position(position of the board 3 illustrated in FIG. 1) on the base 1 a. Theboard 3 is temporarily stopped at the mounting position.

Further, the head unit 7 is moved from the component feed section 5 tothe board 3, while suction-holding the electronic components 2 fed fromthe component feed section 5 by the respective suction-holding nozzles 6a, to mount the electronic components 2 onto the board 3.

During a course of transferring the electronic components 2 beingsuction-held by the respective suction-holding nozzles 6 a, from thecomponent feed section 5 to the target position by the head unit 7, thescanning unit 8 a of the component-recognizing apparatus 8 is movedalong the row of suction-holding nozzles 6 a, so that the lower-surfaceimage-sensing means 8 f and the side-area image-sensing means 8 g takeimages of suction-held conditions of the electronic component 2 in eachof the suction-holding nozzles 6 a in a sequential manner to performimage recognition.

An image-taking procedure of the lower-surface image-sensing means 8 fis as follows.

When the illumination means 8 e controlled by the illumination controlsection 23 emits illumination light from behind an optical path changingsurface 8 k of the second optical path changing member 8 d, toward thefirst optical path changing member 8 c, the illumination light isreflected by the first optical path changing member 8 c after passingthrough the optical path changing surface 8 k of the second optical pathchanging member 8 d, to illuminate a lower surface of the electroniccomponent 2 being suction-held by the suction-holding nozzle 6 a.

During this process, the slit as the lower-surface image taking section8 b narrows a light-passing area to limit the illumination light fromthe illumination means 8 e, to an image-capturing region.

Then, during an image-sensing operation, the first optical path changingmember 8 c provided beneath the suction-holding nozzle 6 a changes theoptical path directed downwardly from the suction-holding nozzle 6 a toapproximately horizontally lateral side by about 90 degrees, so as tochange the optical path in a lateral direction from beneath thesuction-holding nozzle 6 a, and then the second optical path changingmember 8 d further changes the optical path from the first optical pathchanging member 8 c by about 90 degrees, to bend the bended optical pathin another direction. Then, the lower-surface image-sensing means 8 fprovided in the scanning unit 8 a and controlled by the camera controlsection 24 receives the resulting light to capture an image of the lowersurface of the electronic component 2.

As above, the lower-surface image-sensing means 8 f is adapted to take areflection image of a lower surface of the electronic component 2 beingsuction-held by the suction-holding nozzle 6 a and illuminated by thelower-surface illumination means 8 e, through the first optical pathchanging member 8 c and the second optical path changing member 8 d.

Further, the side-area image-sensing means 8 g is disposed lateral tothe lower-surface image-sensing means 8 f, and adapted to take atransmitted image of the electronic component 2 from a lateral side ofthe electronic component 2.

Then, the taken images (the reflection image of the lower surface of theelectronic component 2, and the transmitted image of the lateral surfaceof the electronic component 2) are subjected to an image processingusing the image processing device 23 (FIG. 3) provided in the controlunit 20, to create image data suitable for component recognition. Then,the main control section 21 performs an arithmetical operation, such ascalculation of deviation in suction-held conditions (pickup error) basedon the image data output from the image processing section 25.

In case where the large-size electronic component 2 a is suction-held bysome of the suction-holding nozzles 6 a, and the small-size electroniccomponents 2 are suction-held by the rest of the suction-holding nozzles6 a, to transfer the electronic components 2 and 2 a in a mixed manner,the small-size electronic components 2 are subjected to componentrecognition using the scanning unit 8 a in the above manner after thecomponent pickup operation, and, before or after the componentrecognition, an image of the large-size electronic component 2 a istaken by the fixed camera 1 b to perform image recognition. Then, thecomponents 2 and 2 a are sequentially mounted onto the board 3.

In this embodiment, the scanning unit 8 a has a shape configured to bespaced apart from each of the suction-holding nozzles by a givendistance, to avoid interference with the large-size electronic component2 a being suction-held by the suction-holding nozzle 6 a, duringmovement of the scanning unit 8 a, in a given region equal to or greaterthan a region to be opposed to the large-size electronic component 2 a.Thus, even in the case where the small-size electronic components 2 andthe large-size electronic component 2 a requiring image recognitionusing the fixed camera 1 b are mixedly transferred by the head unit 7,the two types of electronic components can be transferred while avoidinginterference between the scanning unit 8 a and the large-size electroniccomponent 2 a being suction-held by the suction-holding nozzle 6 a. Thismakes it possible to allow the component-recognizing apparatus toachieve high flexibility in terms of transfer sequence, and excellenttransfer efficiency.

Further, the scanning unit 8 a has a recess that maintains a givendistance from each of the suction-holding nozzles 6 a to avoidinterference with the large-size electronic component 2 a. This makes itpossible to more reliably avoid interference between the scanning unit 8a and the large-size electronic component 2 a being suction-held by thesuction-holding nozzle 6 a.

As described above, in the surface-mounting apparatus 1 according to theabove embodiment of the present invention, the illumination means isoperable to emit illumination light onto the lower surface of theelectronic component being suction-held by the suction-holding nozzle,along at least the lateral optical path changed by the first opticalpath changing member. This makes it possible to eliminate a need forproviding the lower-surface illumination means 8 e beneath thesuction-holding nozzle 6 a. Therefore, a thickness of thecomponent-recognizing apparatus 8 including the lower-surfaceillumination means 8 e and an optical system can be reduced withoutperformance degradation, such as narrowing in field of view of thelower-surface image-sensing means 8 f and reduction in lens brightnessdue to downsizing of the optical system and a lens. In addition, aheight dimension of the head unit 7 can be reduced to downsize intendedequipment in its entirety and facilitate a reduction in installationspace of the equipment.

The optical path changing surface 8 k of the second optical pathchanging member 8 d is made as a translucent surface, to allow the lowersurface of the electronic component 2 being suction-held by thesuction-holding nozzle 6 a to be illuminated with illumination lightfrom the lower-surface illumination means 8 e provided behind an opticalpath changing surface 8 k. This makes it possible to package thelower-surface illumination means 8 e behind an optical path changingsurface 8 k to further downsize the component-recognizing apparatus 8.

Particularly in the above embodiment, the first optical path changingmember 8 c, the second optical path changing member 8 d, thelower-surface image-sensing means 8 f, and the lower-surfaceillumination means 8 e are integrally provided in the scanning unit 8 a,and the scanning unit 8 a is adapted to be movable approximatelyparallel to the row of suction-holding nozzles 6 a. This makes itpossible to allow the component-recognizing apparatus 8 to takerespective images of the plurality of suction-holding nozzles 6 aarranged in a row, and achieve a reduced thickness and a reducedinstallation space.

Each of the first optical path changing member 8 c and the secondoptical path changing member 8 d is operable to change the optical pathby about 90 degrees, so that an appropriate angular change in opticalpath and an appropriate width in field of view can be obtained.

Further, in the above embodiment, the optical path changing surface 8 kof the second optical path changing member 8 d is in the form of a halfmirror which is relatively low in cost, so that a cost of the opticalsystem can be reduced.

The lower-surface image taking section 8 b is likewise embodied by theslit which is provided between the suction-holding nozzle 6 a and thefirst optical path changing member 8 c to restrict a light-passing area.This makes it possible to prevent excess light from entering thelower-surface image-sensing means 8 f from a region other than theimage-capturing region, so as to obtain a clear image free of flare.

As above, the surface-mounting apparatus 1 of the present invention isequipped with the above component-recognizing apparatus 8, as a means toperform the image recognition of the conditions of electronic component2 being suction-held by the suction-holding nozzle 6 a. This makes itpossible to allow the surface-mounting apparatus to transfer thesmall-size electronic components 2 and the large-size electroniccomponent 2 a being suction-held by the respective suction-holdingnozzles 6 a, while avoiding interference between the scanning unit 8 aand the large-size electronic component 2 a, so as to achieve highflexibility in terms of transfer sequence, and excellent transferefficiency.

Further, as shown in FIG. 4, the upper surface 8 p of the support member8 m supporting the first optical path changing member 8 c is locatedbelow the upper surface 8 q of the first optical path changing member 8c, so that, when each of the suction-holding nozzles 6 a passes abovethe upper surface 8 q of the first optical path changing member 8 cduring the scanning operation, no interference with the support member 8m occurs. Thus, a position of each of the suction-holding nozzles 6 aduring the scanning operation can be set closer to the target positionand the component feed section in a vertical direction by just themargin, and therefore a mounting time in the target position and apickup time in the component feed section can be cut down.

In addition, the scanning unit 8 a is provided with the side-areaimage-sensing means 8 g, so that suction-held conditions can be detectedbased on a lateral-surface image. In case of adding this function, thelower end 8 r of the side-image taking section 8 n is located below theupper surface 8 q of the first optical path changing member 8 c, so thatthe mounting time in the target position and the pickup time in thecomponent feed section are never increased.

The above embodiment has been shown simply by way of one illustrativeembodiment of the present invention, and the present invention is notlimited to the above embodiment.

Referring to FIGS. 8 to 10, each of the first and second optical pathchanging members 8 c and 8 d illustrated in FIGS. 8 to 10 is in the formof a reflecting prism. The second optical path changing member 8 d is anoptical device operable to further bend a bended optical path from thesuction-holding nozzle 6 a through the first optical path changingmember 8 c in another direction, in such a manner as to be changed tothe optical path directed upwardly at a given elevation angle relativeto a horizontal plane S. In this embodiment, the optical path changingsurface 8 k is formed to be inclined with respect to the horizontalplane S. Further, the side-area image-sensing means 8 f is provided inthe scanning unit 8 a in such a manner that an image-taking directionthereof is inclined to face the optical path changed by the secondoptical path changing member 8 d.

Referring to FIGS. 11 and 12, in this embodiment, considering that animage 2 c of the electronic component 2 is inclined with respect to ahorizontal direction, an arrangement direction of a plurality of imagesensor 8 t is inclined with respect to the horizontal direction in sucha manner that the image sensor 8 t is arranged in a directionapproximately perpendicular to a movement direction CN along which theimage 2 c of the electronic component 2 is moved on the image sensor 8 tas the scanning unit moves 8 a along the row of the suction-holdingnozzles, as shown in FIG. 11A. If the arrangement of image sensor 8 t ofa line sensor is set to be horizontal (FIG. 12A), a taken image isdistorted as an image 2 e (FIG. 12B). In contrast, in this embodiment, anon-distorted image can be formed as an image 2 d in FIG. 11B.

An image-taking procedure of the side-area image-sensing means 8 f inthe embodiment illustrated in FIGS. 8 to 10 is as follows.

The lower-surface illumination means 8 e controlled by the illuminationcontrol section 23 illuminates a lower surface of the electroniccomponent 2 being suction-held by the suction-holding nozzle 6 a.

Then, during an image-sensing operation, the first optical path changingmember 8 c located beneath the suction-holding nozzle 6 a changes theoptical path directed downwardly from the suction-holding nozzle 6 a toapproximately horizontally lateral side by about 90 degrees, so as tochange the optical path in a lateral direction from beneath thesuction-holding nozzle 6 a.

Then, the second optical path changing member 8 d further bends thebended optical path from the suction-holding nozzle 6 a through thefirst optical path changing member 8 c, in another direction, in such amanner as to be changed to the optical path directed upwardly at thegiven elevation angle relative to the horizontal plane S.

Then, the side-area image-sensing means 8 f provided in the scanningunit 8 a and controlled by the camera control section 24 receives theresulting light to capture an image of the lower surface of theelectronic component 2.

As above, the side-area image-sensing means 8 f is adapted to capture animage of a lower surface of the electronic component 2 beingsuction-held by the suction-holding nozzle 6 a and illuminated by thelower-surface illumination means 8 e, through the first optical pathchanging member 8 c and the second optical path changing member 8 d.

As described above, in the component-recognizing apparatus 8 accordingto the above embodiment of the present invention, the lower-surfaceimage-sensing means is disposed in the optical path which is changed bythe second optical path changing member in such a manner as to bedirected upwardly at the given elevation angle relative to thehorizontal plane S. This makes it possible to avoid a situation wherethe lower-surface image-sensing means is provided to extend below thesecond optical path changing member. Therefore, an opposed distancebetween the head unit and the base can be reduced to downsize intendedequipment in its entirety and facilitate a reduction in installationspace of the equipment, while employing a lens of normal size, withoutperformance degradation, such as narrowing in field of view of thelower-surface image-sensing means and reduction in lens brightness dueto downsizing of the optical system and the lens.

Each of the first optical path changing member and the second opticalpath changing member is operable to change the optical path by about 90degrees, so that an appropriate angular change in optical path and anappropriate width in field of view can be obtained.

Further, the first optical path changing member is in the form of aprism, so that a low-cost optical system can be achieved in terms of thefirst optical path changing member.

The second optical path changing member is also in the form of a prism,so that a low-cost optical system can also be achieved in terms of thesecond optical path changing member.

The image sensor of image sensor 8 t of the line sensor of the side-areaimage-sensing means 8 f are arranged to be inclined with respect to ahorizontal direction in such a manner that a direction of the imagesensor is set approximately perpendicular to a movement direction alongwhich the image 2 c of the electronic component 2 is moved on the imagesensor 8 t as the scanning unit moves 8 a along the row of thesuction-holding nozzles. Therefore, a need for taking time to perform animage processing for a taken image 2 d can be eliminated to preventdeterioration in mounting efficiency.

[Other Modifications]

In the above embodiments, each of the components, such as theboard-conveying means 4, the component feed section 5, and theX-axis/Y-axis driving mechanism of the head unit 7, is not intended tolimit the present invention, but various design changes may be madetherein.

Further, as shown in FIG. 13, the first optical path changing member 8 cmay be in the form of a mirror.

Alternatively, as shown in FIG. 14, the second optical path changingmember 8 d may be in the form of a prism.

Further, the first optical path changing member 8 c and the secondoptical path changing member 8 d are not necessarily limited to a typeoperable to change the optical path to approximately horizontallylateral side by about 90 degrees. As long as it is a type providedbeneath the suction-holding nozzle 6 a and operable to change theoptical path directed downwardly from the suction-holding nozzle 6 a, ina lateral direction from beneath the suction-holding nozzle 6 a, theoptical path may be changed in various other ways.

Similarly, each of the lower-surface illumination means 8 e and the sideillumination means 8 h is not limited to light-emitting diodes. Anyother conventional illumination means may be employed.

Further, each of the lower-surface image-sensing means 8 f and theside-area image-sensing means 8 g is not limited to a CCD camera, butvarious other types of cameras may be employed.

The image-taking direction is not necessarily limited to the illustrateddirection. Depending on a relationship with a surrounding device, adesign change may be made to set it in various directions.

Further, an application of the component-recognizing apparatus accordingto the present invention is not limited to a surface-mounting apparatus.It may also be applied to a component-inspecting apparatus comprising amovable head unit having a suction-holding nozzle capable ofsuction-holding an electronic component, wherein thecomponent-inspecting apparatus is adapted to pick up an electroniccomponent from a component feed section by the suction-holding nozzle,and, after taking an image of the electronic component beingsuction-held by the suction-holding nozzle, to perform image recognitionof suction-held conditions of the electronic component relative to thesuction-holding nozzle, transfer the electronic component to inspectionmeans to carry out various inspections.

The component-recognizing apparatus may be provided in a line forsupplying only the same type of electronic component 2 a.

The above component-inspecting apparatus is equipped with thecomponent-recognizing apparatus according to the present invention, as ameans to perform the image recognition of the conditions of electroniccomponent being suction-held by the suction-holding nozzle. This makesit possible to allow the component-inspecting apparatus to transfer thesmall-size electronic components and the large-size electroniccomponent, so as to achieve high flexibility in terms of transfersequence, and excellent transfer efficiency.

It is understood that the component-inspecting apparatus may be a typeadapted to mixedly transfer the large-size electronic component to besubjected to an image-sensing operation using a fixed camera 1 b, aswith the surface-mounting apparatus 1 in FIG. 1. In this case, thecomponent-recognizing apparatus according to the first embodiment may beemployed to allow the component-inspecting apparatus to transfer thesmall-size electronic components and the large-size electronic componentwhile avoiding interference between the scanning unit and the large-sizeelectronic component being suction-held by the suction-holding nozzle 6a, so as to achieve high flexibility in terms of transfer sequence, andexcellent transfer efficiency.

As above, in summary, the present invention provides acomponent-recognizing apparatus comprising a movable head unit having asuction-holding nozzle capable of suction-holding an electroniccomponent and a scanning unit which is installed to the head unit inrelatively displaceable with respect to the suction-holding nozzle, thescanning unit being operable to capture an image for image recognitionof suction-held conditions of the electronic component beingsuction-held by the suction-holding nozzle, said scanning unitincluding: a first optical path changing member which is adapted to belocated beneath the suction-holding nozzle and is operable to bend theoptical path directed downwardly from the suction-holding nozzle in alateral direction during the image-sensing operation; a second opticalpath changing member operable to further bend the bended optical path inanother direction; lower-surface image-sensing means disposed in theoptical path changed by the second optical path changing member, thelower-surface image-sensing means is operable to capture an image of alower surface of the electronic component being suction-held by thesuction-holding nozzle through the first and second optical pathchanging members; and illumination means operable to emit illuminationlight onto the lower surface of the electronic component beingsuction-held by the suction-holding nozzle, along at least the lateraloptical path changed by the first optical path changing member.

According to the component-recognizing apparatus of the presentinvention, the illumination means is operable to emit illumination lightonto the lower surface of the electronic component being suction-held bythe suction-holding nozzle, along at least the lateral optical pathchanged by the first optical path changing member. This makes itpossible to eliminate a need for providing the illumination meansbeneath the suction-holding nozzle. Therefore, a thickness of thescanning unit can be reduced without performance degradation, such asnarrowing in field of view of the lower-surface image-sensing means andreduction in lens brightness due to downsizing of an optical system anda lens. In addition, an opposed distance between the head unit and abase can be reduced to downsize intended equipment in its entirety andfacilitate a reduction in installation space of the equipment.

Preferably, in the component-recognizing apparatus of the presentinvention, the illumination means is provided approximately on anextension line of the light directed from the first optical pathchanging member toward the second optical path changing member, so as toemit the illumination light from behind an optical path changing surfaceof the second optical path changing member toward the first optical pathchanging member, the optical path changing surface of the second opticalpath changing member is a translucent surface formed as operable toallow the light of the illumination means provided behind an opticalpath changing surface to pass therethrough forwardly, and theillumination means is adapted to illuminate the lower surface of theelectronic component being suction-held by the suction-holding nozzle,with the illumination light bended by the first optical path changingmember after passing through the optical path changing surface of thesecond optical path changing member.

According to this feature, because the optical path changing surface ofthe second optical path changing member is a translucent surface, itallows the lower surface of the electronic component being suction-heldby the suction-holding nozzle to be illuminated with illumination lightfrom the illumination means provided behind an optical path changingsurface. This makes it possible to package the illumination means behindan optical path changing surface to further downsize thecomponent-recognizing apparatus.

Preferably, the optical path changing surface of the second optical pathchanging member is in the form of a half mirror as the translucentsurface.

According to this feature, the optical path changing surface of thesecond optical path changing member is in the form of a half mirrorwhich is relatively low in cost, so that a cost of the optical systemcan be reduced.

Alternatively, the optical path changing surface of the second opticalpath changing member is preferably in the form of a reflecting prism asthe translucent surface.

According to this feature, the optical path changing surface of thesecond optical path changing member is in the form of a reflectingprism, so that the optical path changing surface can be used for a longperiod of time without distortion and peeling of a reflective material,as compared with the optical path changing surface in the form of a halfmirror.

In accordance with another aspect of the present invention, there isprovided a component-recognizing apparatus comprising a movable headunit having a suction-holding nozzle capable of suction-holding anelectronic component and a scanning unit which is installed to the headunit in relatively displaceable with respect to the suction-holdingnozzle, the scanning unit being operable to capture an image for imagerecognition of suction-held conditions of the electronic component beingsuction-held by the suction-holding nozzle, said scanning unitincluding: a first optical path changing member which is adapted to belocated beneath the suction-holding nozzle and is operable to bend theoptical path directed downwardly from the suction-holding nozzle in alateral direction during the image-sensing operation; a second opticalpath changing member operable to further bend the bended optical path inanother direction so that the bended optical path directs upwardly at agiven elevation angle relative to a horizontal plane; and image-sensingmeans disposed in the optical path changed by the second optical pathchanging member, the image-sensing means is operable to capture an imageof a lower surface of the electronic component being suction-held by thesuction-holding nozzle through the first and second optical pathchanging members.

In this aspect, the image-sensing means is disposed in the optical pathwhich is changed by the second optical path changing member in such amanner as to be directed upwardly at a given elevation angle relative toa horizontal plane. This makes it possible to avoid a situation wherethe image-sensing means is provided to extend below the second opticalpath changing member.

Preferably, in the component-recognizing apparatus in accordance withthis aspect of the present invention, the first optical path changingmember is operable to reflect the optical path striking from beneath thenozzle to the base on approximately horizontally lateral side by about90 degrees.

According to this feature, each of the first optical path changingmember and the second optical path changing member is operable to changethe optical path by about 90 degrees, so that an appropriate angularchange in optical path and an appropriate width in field of view can beobtained.

Preferably, the first optical path changing member is in the form of amirror or a prism.

According to this feature, a low-cost optical system can be achieved interms of the first optical path changing member.

Preferably, the second optical path changing member is in the form of amirror or a prism.

According to this feature, a low-cost optical system can be achieved interms of the second optical path changing member.

Preferably, the image-sensing means is in the form of a line sensor, animage sensor of the line sensor are arranged to be inclined with respectto a horizontal direction in such a manner that a direction of the imagesensor is set approximately perpendicular to a movement direction alongwhich an image of the electronic component is moved on the image sensoras the scanning unit moves along a row of the suction-holding nozzles.

According to this feature, the image sensor of the line sensor arearranged to be inclined with respect to a horizontal direction in such amanner that a direction of the image sensor is set approximatelyperpendicular to a movement direction along which an image of theelectronic component is moved on the image sensor as the scanning unitmoves along the row of the suction-holding nozzles, so that a takenimage is formed as a non-distorted image. Therefore, a need for takingtime to perform an image processing for a taken image can be eliminatedto prevent deterioration in mounting efficiency.

Preferably, the head unit includes a row of the suction-holding nozzles;and the scanning unit is adapted to be moved along the row ofsuction-holding nozzles to capture an image of suction-held conditionsof the electronic component being suction-held by each of thesuction-holding nozzles, in a sequential manner.

This feature makes it possible to allow the component-recognizingapparatus to take respective images of the plurality of suction-holdingnozzles 6 a arranged in a row, and achieve a reduced thickness and areduced installation space.

In accordance with yet another aspect of the present invention, there isprovided a component-recognizing apparatus comprising a row ofsuction-holding nozzles each capable of suction-holding an electroniccomponent and a scanning unit which is installed to the head unit, thescanning unit is adapted to be relatively displaced with respect to thesuction-holding nozzles to perform sequential scanning so as to capturean image for image recognition of suction-held conditions of theelectronic component being suction-held by each of the suction-holdingnozzles, the scanning unit including: a lower-surface image takingsection operable to take an image of a lower surface of the electroniccomponent being suction-held by the suction-holding nozzle when thelower-surface image taking section passes beneath each of thesuction-holding nozzles during the scanning operation of the scanningunit; and

lower-surface image-sensing means operable to capture an image of thelower surface of the electronic component introduced through thelower-surface image taking section, wherein the scanning unit has ashape configured, in terms of a large-size electronic component having asize exceeding an image-capturing region determined by the lower-surfaceimage taking section and the lower-surface image-sensing means, to bespaced apart from each of the suction-holding nozzles by a givendistance, to avoid interference with the large-size electronic componentbeing suction-held by at least one of the suction-holding nozzles,during the scanning operation of the scanning unit.

In this aspect, even in case where the large-size electronic componentrequiring image recognition using a fixed camera is attached to at leastone of the suction-holding nozzles, the scanning operation for theelectronic components attached to the remaining suction-holding nozzlescan be performed under a condition that the scanning unit is arrangedadjacent to a lower surface of each of the remaining suction-holdingnozzles as close as possible, while avoiding interference with thelarge-size electronic component. Thus, the large-size electroniccomponent can be mixedly transferred together with the electroniccomponents to be subjected to the image-sensing operation using thescanning unit. This makes it possible to allow the component-recognizingapparatus to achieve high flexibility in terms of sequence duringtransfer of the electronic components, and excellent transferefficiency.

Preferably, in the component-recognizing apparatus in accordance withthis aspect of the present invention, the scanning unit has a recesswhich allows for taking an image of any electronic component fallingwithin an image-capturing region determined by the lower-surface imagetaking section and the lower-surface image-sensing means, and allows tohave a given distance from each of the suction-holding nozzles to avoidinterference with the large-size electronic component, in the givenregion thereof.

According to this feature, the scanning unit has a recess that maintainsa given distance from each of the suction-holding nozzles to avoidinterference with the large-size electronic component. This makes itpossible to more reliably avoid interference between the scanning unitand the large-size electronic component being suction-held by thesuction-holding nozzle.

Preferably, the first optical path changing member is operable to changeby about 90 degrees the optical path directed from a lower side of thenozzle toward the base on approximately horizontally lateral side; andthe second optical path changing member is operable to change furtherthe optical path from the first optical path changing member, by about90 degrees.

According to this feature, each of the first optical path changingmember and the second optical path changing member is operable to changethe optical path by about 90 degrees, so that an appropriate angularchange in optical path and an appropriate width in field of view can beobtained.

Preferably, the above component-recognizing apparatus comprises a slitformed between the suction-holding nozzle and the first optical pathchanging member to restrict a light-passing area.

According to this feature, the slit is formed between thesuction-holding nozzle and the first optical path changing member torestrict a light-passing area. This makes it possible to prevent excesslight from entering the lower-surface image-sensing means from a regionother than the image-capturing region, so as to obtain a clear imagefree of flare.

Preferably, the above component-recognizing apparatus comprises anoptical path changing member operable to bend the light along a lateralside, after the light taken from the lower surface of the electroniccomponent through the lower-surface image taking section, wherein asupport member which supports the optical path changing member has anupper surface located below an upper surface of in conformity to anundulating shape of the large-size electronic component.

According to this feature, the upper surface of the support membersupporting the optical path changing member is located below the uppersurface of the optical path changing member, so that, when each of thesuction-holding nozzles passes above the upper surface of the opticalpath changing member during the scanning operation, no interference withthe support member occurs. Thus, a position of each of thesuction-holding nozzles during the scanning operation can be set closerto a target position and a component feed section in a verticaldirection by just the margin, and therefore a mounting time in thetarget position and a pickup time in the component feed section can becut down.

Preferably, the scanning unit includes: side-area image-sensing meansdisposed lateral to and in side-by-side relation to the lower-surfaceimage-sensing means, to capture an image of an electronic component froma lateral side of the electronic component; and a side-image takingsection oriented toward a lateral region of the electronic component, tointroduce the image into the side-area image-sensing means, wherein theside-image taking section has a lower end located below an upper surfaceof the optical path changing member.

According to this feature, the scanning unit is provided with theside-area image-sensing means, so that suction-held conditions can bedetected based on a lateral-surface image. In case of adding thisfunction, the lower end of the side-image taking section is locatedbelow the upper surface of the optical path changing member, so that themounting time in the target position and the pickup time in thecomponent feed section are never increased.

A surface-mounting apparatus according to the present inventioncomprises a movable head unit having a suction-holding nozzle capable ofsuction-holding an electronic component, the surface-mounting apparatusbeing adapted to pick up an electronic component from a component feedsection by the suction-holding nozzle, and to mount the electroniccomponent onto a board, after taking an image of the electroniccomponent being suction-held by the suction-holding nozzle to performimage recognition of suction-held conditions of the electronic componentrelative to the suction-holding nozzle. The surface-mounting apparatusis equipped with the above component-recognizing apparatus, as a meansto perform the image recognition of the conditions of electroniccomponent being suction-held by the suction-holding nozzle.

The surface-mounting apparatus of the present invention is equipped withthe above component-recognizing apparatus, as a means to perform theimage recognition of the conditions of electronic component beingsuction-held by the suction-holding nozzle. Thus, an opposed distancebetween the head unit and a base can be reduced to downsize thesurface-mounting apparatus in its entirety and facilitate a reduction ininstallation space of the surface-mounting apparatus. Further, in casewhere the scanning unit has a shape configured to be spaced apart fromeach of the suction-holding nozzles by a given distance, thesurface-mounting apparatus can transfer the small-size electroniccomponents and the large-size electronic component being suction-held bythe respective suction-holding nozzles, while avoiding interferencebetween the scanning unit and the large-size electronic component, so asto achieve high flexibility in terms of transfer sequence, and excellenttransfer efficiency.

A component-inspecting apparatus according to the present inventioncomprises a movable head unit having a suction-holding nozzle capable ofsuction-holding an electronic component, the component-inspectingapparatus being adapted to pick up an electronic component from acomponent feed section by the suction-holding nozzle, and to transferthe electronic component to inspection means to carry out variousinspections, after taking an image of the electronic component beingsuction-held by the suction-holding nozzle to perform image recognitionof suction-held conditions of the electronic component relative to thesuction-holding nozzle. The component-inspecting apparatus is equippedwith the component-recognizing apparatus as defined in any one of claims1 to 18, as a means to perform the image recognition of the conditionsof electronic component being suction-held by the suction-holdingnozzle.

The component-inspecting apparatus of the present invention is equippedwith the above component-recognizing apparatus, as a means to performthe image recognition of the conditions of electronic component beingsuction-held by the suction-holding nozzle. Thus, an opposed distancebetween the head unit and a base can be reduced to downsize thecomponent-inspecting apparatus in its entirety and facilitate areduction in installation space of the component-inspecting apparatus.Further, in case where the scanning unit has a shape configured to bespaced apart from each of the suction-holding nozzles by a givendistance, the component-inspecting apparatus can transfer the small-sizeelectronic components and the large-size electronic component beingsuction-held by the respective suction-holding nozzles, while avoidinginterference between the scanning unit and the large-size electroniccomponent, so as to achieve high flexibility in terms of transfersequence, and excellent transfer efficiency.

Although the present invention has been fully described by way ofexample with reference to the accompanying drawings, it is to beunderstood that various changes and modifications will be apparent tothose skilled in the art. Therefore, unless otherwise such changes andmodifications depart from the scope of the present invention hereinafterdefined, they should be construed as being included therein.

1. A component-recognizing apparatus comprising a movable head unithaving a suction-holding nozzle capable of suction-holding an electroniccomponent and a scanning unit which is installed to the head unit inrelatively displaceable with respect to the suction-holding nozzle, thescanning unit being operable to capture an image for image recognitionof suction-held conditions of the electronic component beingsuction-held by the suction-holding nozzle, said scanning unitincluding: a first optical path changing member which is adapted to belocated beneath the suction-holding nozzle and is operable to bend theoptical path directed downwardly from the suction-holding nozzle in alateral direction during the image-sensing operation; a second opticalpath changing member operable to further bend the bended optical path inanother direction; lower-surface image-sensing means disposed in theoptical path changed by the second optical path changing member, thelower-surface image-sensing means is operable to capture an image of alower surface of the electronic component being suction-held by thesuction-holding nozzle through the first and second optical pathchanging members; and illumination means operable to emit illuminationlight onto the lower surface of the electronic component beingsuction-held by the suction-holding nozzle, along at least the lateraloptical path changed by the first optical path changing member.
 2. Thecomponent-recognizing apparatus as defined in claim 1, wherein theillumination means is provided approximately on an extension line of thelight directed from the first optical path changing member toward thesecond optical path changing member, so as to emit the illuminationlight from behind an optical path changing surface of the second opticalpath changing member toward the first optical path changing member, theoptical path changing surface of the second optical path changing memberis a translucent surface formed as operable to allow the light of theillumination means provided behind an optical path changing surface topass therethrough forwardly, and the illumination means is adapted toilluminate the lower surface of the electronic component beingsuction-held by the suction-holding nozzle, with the illumination lightbended by the first optical path changing member after passing throughthe optical path changing surface of the second optical path changingmember.
 3. The component-recognizing apparatus as defined in claim 2,wherein the optical path changing surface of the second optical pathchanging member is in the form of a half mirror as the translucentsurface.
 4. The component-recognizing apparatus as defined in claim 2,wherein the optical path changing surface of the second optical pathchanging member is in the form of a reflecting prism as the translucentsurface.
 5. A component-recognizing apparatus comprising a movable headunit having a suction-holding nozzle capable of suction-holding anelectronic component and a scanning unit which is installed to the headunit in relatively displaceable with respect to the suction-holdingnozzle, the scanning unit being operable to capture an image for imagerecognition of suction-held conditions of the electronic component beingsuction-held by the suction-holding nozzle, said scanning unitincluding: a first optical path changing member which is adapted to belocated beneath the suction-holding nozzle and is operable to bend theoptical path directed downwardly from the suction-holding nozzle in alateral direction during the image-sensing operation; a second opticalpath changing member operable to further bend the bended optical path inanother direction so that the bended optical path directs upwardly at agiven elevation angle relative to a horizontal plane; and image-sensingmeans disposed in the optical path changed by the second optical pathchanging member, the image-sensing means is operable to capture an imageof a lower surface of the electronic component being suction-held by thesuction-holding nozzle through the first and second optical pathchanging members.
 6. The component-recognizing apparatus as defined inclaim 5, wherein the first optical path changing member is operable toreflect the optical path striking from beneath the nozzle to the base onapproximately horizontally lateral side by about 90 degrees.
 7. Thecomponent-recognizing apparatus as defined in claim 5, wherein the firstoptical path changing member is in the form of a mirror.
 8. Thecomponent-recognizing apparatus as defined in claim 5, wherein the firstoptical path changing member is in the form of a prism.
 9. Thecomponent-recognizing apparatus as defined in claim 5, wherein thesecond optical path changing member is in the form of a mirror.
 10. Thecomponent-recognizing apparatus as defined in claim 5, wherein thesecond optical path changing member is in the form of a prism.
 11. Thecomponent-recognizing apparatus as defined in claim 5, wherein theimage-sensing means is in the form of a line sensor, an image sensor ofthe line sensor are arranged to be inclined with respect to a horizontaldirection in such a manner that a direction of the image sensor is setapproximately perpendicular to a movement direction along which an imageof the electronic component is moved on the image sensor as the scanningunit moves along a row of the suction-holding nozzles.
 12. Thecomponent-recognizing apparatus as defined in claim 1, wherein the headunit includes a row of the suction-holding nozzles; and the scanningunit is adapted to be moved along the row of suction-holding nozzles tocapture an image of suction-held conditions of the electronic componentbeing suction-held by each of the suction-holding nozzles, in asequential manner.
 13. A component-recognizing apparatus comprising arow of suction-holding nozzles each capable of suction-holding anelectronic component and a scanning unit which is installed to the headunit, the scanning unit is adapted to be relatively displaced withrespect to the suction-holding nozzles to perform sequential scanning soas to capture an image for image recognition of suction-held conditionsof the electronic component being suction-held by each of thesuction-holding nozzles, the scanning unit including: a lower-surfaceimage taking section operable to take an image of a lower surface of theelectronic component being suction-held by the suction-holding nozzlewhen the lower-surface image taking section passes beneath each of thesuction-holding nozzles during the scanning operation of the scanningunit; and lower-surface image-sensing means operable to capture an imageof the lower surface of the electronic component introduced through thelower-surface image taking section, wherein the scanning unit has ashape configured, in terms of a large-size electronic component having asize exceeding an image-capturing region determined by the lower-surfaceimage taking section and the lower-surface image-sensing means, to bespaced apart from each of the suction-holding nozzles by a givendistance, to avoid interference with the large-size electronic componentbeing suction-held by at least one of the suction-holding nozzles,during the scanning operation of the scanning unit.
 14. Thecomponent-recognizing apparatus as defined in claim 13, wherein thescanning unit has a recess which allows for taking an image of anyelectronic component falling within an image-capturing region determinedby the lower-surface image taking section and the lower-surfaceimage-sensing means, and allows to have a given distance from each ofthe suction-holding nozzles to avoid interference with the large-sizeelectronic component, in the given region thereof.
 15. Thecomponent-recognizing apparatus as defined in claim 1, wherein: thefirst optical path changing member is operable to change by about 90degrees the optical path directed from a lower side of the nozzle towardthe base on approximately horizontally lateral side; and the secondoptical path changing member is operable to change further the opticalpath from the first optical path changing member, by about 90 degrees.16. The component-recognizing apparatus as defined in claim 1,comprising a slit formed between the suction-holding nozzle and thefirst optical path changing member to restrict a light-passing area. 17.The component-recognizing apparatus as defined in claim 13, comprising:an optical path changing member operable to bend the light along alateral side, after the light taken from the lower surface of theelectronic component through the lower-surface image taking section,wherein a support member which supports the optical path changing memberhas an upper surface located below an upper surface of in conformity toan undulating shape of the large-size electronic component.
 18. Thecomponent-recognizing apparatus as defined in claim 17, wherein thescanning unit includes: side-area image-sensing means disposed lateralto and in side-by-side relation to the lower-surface image-sensingmeans, to capture an image of an electronic component from a lateralside of the electronic component; and a side-image taking sectionoriented toward a lateral region of the electronic component, tointroduce the image into the side-area image-sensing means, wherein theside-image taking section has a lower end located below an upper surfaceof the optical path changing member.
 19. A surface-mounting apparatuscomprising a movable head unit having a suction-holding nozzle capableof suction-holding an electronic component, the surface-mountingapparatus being adapted to pick up an electronic component from acomponent feed section by the suction-holding nozzle, and to mount theelectronic component onto a board, after taking an image of theelectronic component being suction-held by the suction-holding nozzle toperform image recognition of suction-held conditions of the electroniccomponent relative to the suction-holding nozzle, wherein thesurface-mounting apparatus is equipped with the component-recognizingapparatus as defined in claim 1 as a means to perform the imagerecognition of the conditions of electronic component being suction-heldby the suction-holding nozzle.
 20. A component-inspecting apparatuscomprising a movable head unit having a suction-holding nozzle capableof suction-holding an electronic component, the component-inspectingapparatus being adapted to pick up an electronic component from acomponent feed section by the suction-holding nozzle, and to transferthe electronic component to inspection means to carry out variousinspections, after taking an image of the electronic component beingsuction-held by the suction-holding nozzle to perform image recognitionof suction-held conditions of the electronic component relative to thesuction-holding nozzle, wherein the component-inspecting apparatus isequipped with the component-recognizing apparatus as defined in claim 1,as a means to perform the image recognition of the conditions ofelectronic component being suction-held by the suction-holding nozzle.